from Simulator import Simulator
from AXAngle import AXAngle
import math
import os
standadRemoteApiPort=19997
localhost='127.0.0.1'
genetic_bioloid=os.getcwd()+"/models/genetic_bioloid.ttt"
print 'Program started'
angle = AXAngle()
sim = Simulator()
clientID = sim.connectVREP()
if clientID !=-1:
print 'Connected to remote API server'
sim.loadscn(clientID, genetic_bioloid)
sim.startSim(clientID,True)
angle.setDegreeValue(150)
sim.setJointPosition(clientID,"R_Hip_Pitch",angle.toVrep())
sim.setJointPosition(clientID,"L_Hip_Pitch",angle.toVrep())
pos1x, pos1y=sim.getBioloidPlannarPosition(clientID)
end=False
while not end:
for i in xrange(30):
angle.setDegreeValue(150-i)
#print "voy a setear ax12 value en cadera izquierda: ", 150 - i
sim.setJointPosition(clientID,'L_Hip_Pitch',angle.toVrep())
